Monitoring usage or status of cart retrievers

ABSTRACT

Examples of systems and methods for controlling or monitoring a fleet of human-propelled, wheeled carts and cart retrievers are described. The carts can be shopping carts at a retail facility, and the cart retrievers can be used to collect and return the shopping carts from a parking lot near the facility to a cart collection area. The carts or cart retrievers can monitor various status or usage parameters (such as retriever battery charge, cart collection trip speed, cart collection path or duration, etc.) and transmit the parameters to a central control unit. The central control unit can analyze and process the status or usage parameters. The system can provide a user interface for access to the status or usage parameters of the cart and cart retriever fleet.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority under 35 U.S.C. §120 to,and is a continuation of, U.S. patent application Ser. No. 14/808,971,filed on Jul. 24, 2015 and titled “MONITORING USAGE OR STATUS OF CARTRETRIEVERS,” to issue as U.S. Pat. No. 9,403,548, which claims thebenefit of priority under 35 U.S.C. §119(e) to U.S. Provisional PatentApplication No. 62/029,347 filed on Jul. 25, 2014 and titled “CARTMANAGER CONTROLLER AND BATTERY MONITOR.” The present application hereinincorporates by reference the foregoing disclosures in their entiretyfor any purposes.

BACKGROUND

Field

The disclosure generally relates to systems and methods for controllingor monitoring retrievers for human-propelled, wheeled carts including,but not limited to shopping carts.

Description of Related Art

Many establishments use or provide human-propelled, wheeled carts. Forexample, retail stores often provide shopping carts to customers fortheir shopping convenience. Customers typically leave shopping carts inthe parking lot of the store after the customers have finished shopping.Cart retrieval units (sometimes also referred to as cart retrievers) aremotorized vehicles adapted to collect one or more carts and return themto a collection or storage area.

SUMMARY

There remains a need to improve systems and methods for controlling ormonitoring material handling vehicles, including retrievers forhuman-propelled carts.

Examples of systems and methods for controlling or monitoring a fleet ofhuman-propelled, wheeled carts and cart retrievers are described. Insome implementations, the carts can be shopping carts at a retailfacility, and the cart retrievers can be used to collect and return theshopping carts from a parking lot near the facility to a cart collectionarea. The carts or cart retrievers can monitor various status or usageparameters (such as retriever battery charge, cart collection tripspeed, path, or duration, etc.) and transmit the status or usageparameters to a central control unit. The central control unit cananalyze and process the status or usage parameters. The system canprovide a user interface for access to the status or usage parameters ofthe cart and cart retriever fleet.

Details of one or more implementations of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages will becomeapparent from the description, the drawings, and the claims. Neitherthis summary nor the following detailed description purports to defineor limit the scope of the inventive subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows various types of components of an example system that maybe deployed in and around a store for purposes of tracking shoppingcarts or controlling or monitoring cart retrievers.

FIG. 2A shows a schematic illustration of a cart retriever connectedwith a shopping cart via a connection assembly.

FIG. 2B shows a perspective view of an embodiment of a motorized cartretriever.

FIG. 3 shows a rear view of an embodiment of a cart retriever.

FIG. 4 shows a schematic block diagram of an embodiment of a controlcircuit for a cart retriever.

FIG. 5 illustrates an example computer and network system for managingor monitoring cart retrievers.

FIG. 6A shows a block diagram of an example method for managing ormonitoring cart retrievers.

FIG. 6B shows an example block diagram of a method for a cart retrieverto monitor or report status or usage parameters.

FIG. 7A shows an example of a user interface for interacting with anetwork system for managing or monitoring cart retrievers.

FIG. 7B shows an example of a remote control for controlling a cartretriever.

Throughout the drawings, reference numbers may be re-used to indicatecorrespondence between referenced elements. The drawings are provided toillustrate example embodiments described herein and are not intended tolimit the scope of the disclosure.

DETAILED DESCRIPTION Overview

Some examples refer to the retriever for human-propelled, wheeled cartsunder the name CartManager (“CM”) (which is an example of a shoppingcart retriever and is available from Gatekeeper Systems, Inc. of Irvine,CA); however these examples are for the purpose of illustration andthese examples do not limit the disclosure.

Further, although certain examples are described with reference toshopping carts and shopping cart retrievers in a retail storeenvironment (e.g., a supermarket), this is for the purpose ofillustration and these examples do not limit the disclosure. Forexample, in other implementations the cart can be any type ofhuman-propelled (e.g., non-motorized) movable object or wheeled vehicleincluding a warehouse cart, a luggage or baggage cart, a hospital cart,a wheelchair, a hospital bed, and so forth. The cart retriever can beany type of motorized retrieval unit for collecting movable objects orwheeled vehicles. Additionally, the control, status, or usage monitoringfunctionality described herein can be used with any type of materialhandling vehicle or equipment.

FIG. 1 shows various types of components of an example system that maybe deployed in and around a store for purposes of tracking shoppingcarts or monitoring usage or status of cart retrievers. In theembodiment of FIG. 1, the vehicle tracking system is shown deployed in astore for purposes of tracking and controlling the movement of shoppingcarts 30. However, the inventive components and methods of the vehicletracking system may be used for other applications, such as trackingluggage carts in an airport, stretchers in a hospital, or carts in awarehouse. As further described below, the vehicle tracking system canbe deployed for monitoring usage or status of cart retrievers that areused to collect carts.

The system includes a set of cart transceivers (CTs) that communicatebi-directionally with a set of wireless access points (APs) to createtwo-way communications links with the shopping carts 30. In oneembodiment, each cart transceiver (CT) is fully contained within one ofthe standard-size (5-inch diameter) wheels 32 (typically a front wheel)of a respective shopping cart 30, together with a braking unit that canbe actuated by the cart transceiver to lock the wheel. One example of abraking unit that may be used for this purpose is described in U.S. Pat.No. 6,362,728, which is hereby incorporated by reference herein in itsentirety for all it discloses so as to form a part of thisspecification. (For purposes of this detailed description, the term“cart transceiver” refers collectively to the cart's RF transceiver andthe associated sensor circuitry). Alternatively, a progressive orpartial braking unit may be used that is additionally capable ofinhibiting the wheel's rotation without placing the wheel in a lockedstate.

Some of the circuitry of the cart transceivers (CTs) may alternativelybe provided elsewhere on the shopping carts 30. For example, asdescribed below, some of the transceiver circuitry (or other circuitry)may alternatively be included in a display unit that attaches to theshopping cart's handle or on or within the shopping cart's handle orframe. As another example, some or all of the circuitry, includingsensor circuitry, could be housed in the wheel assembly (e.g., in thewheel's caster or fork) without being included in the wheel itself.Examples of a wheel and a display unit attached to a shopping cart'shandle are described in U.S. Pat. No. 8,463,540, issued Jun. 11, 2013.U.S. Pat. No. 8,463,540 ('540 Patent) is hereby incorporated byreference herein in its entirety for all it discloses so as to form partof this specification.

The access points (APs) are generally responsible for communicating withthe cart transceivers (CTs) for purposes of retrieving and generatingcart status information, including information indicative or reflectiveof cart location. The types of cart status information that may beretrieved and monitored include, for example, whether the wheel 32 is ina locked versus unlocked state, whether the cart is moving; the wheel'saverage rotation speed (as may be sensed using a rotation sensor in thewheel 32); whether the cart has detected a particular type oflocation-dependent signal such as a very low frequency (VLF, typicallyfrom 3 kHz to 30 kHz) radio frequency (RF) signal, an electronic articlesurveillance (EAS) signal, an RF signal in the telecommunications band(e.g., S band (about 2 GHz to 4 GHz) or C band (about 4 GHz to 8 GHz),an RF signal in the Industrial, Scientific, and Medical (ISM) band(e.g., near 2.4 GHz or 5.8 GHz), or a magnetic signal; whether the wheel32 is skidding; the CT's battery level and a general wheel “health”; andthe number of lock/unlock cycles experienced by the cart since somereference time. (The term “wheel 32” is used herein to referspecifically to a wheel that includes electronics as described herein,as opposed to the other wheels of the shopping cart.) The access points(APs) are also capable of generating and/or relaying commands to thecart transceivers (CTs), including lock and unlock commands that aresent to specific shopping carts.

In the embodiment shown in FIG. 1, some or all of the access points(APs) communicate wirelessly with a central control unit (CCU), eitherdirectly or via intermediate access points. The central control unit maybe implemented as a personal computer that includes a wirelesstransceiver card or which is wire-connected to an external transceiverunit. The CCU is generally responsible for collecting, storing andanalyzing cart status information, including location information,gathered by the access points (APs). In addition to the data retrievedfrom the cart transceivers (CTs), the CCU may collect data generated bythe access points, such as signal strength measurements of detected carttransmissions. Some or all of the collected data is preferably stored bythe CCU together with associated event timestamps.

The CCU may analyze the collected data in real time for purposes ofmaking decisions, such as whether to send a lock command to a particularcart 30 or whether to send an alert message to personnel. For example,when a cart is approaching or passing through the store exit, the CCUmay analyze the cart's recent history (e.g., path and speed) to evaluatewhether a customer is attempting to leave the store without paying. (Theaccess points may additionally or alternatively be responsible formaking such determinations.) Based on the outcome of this determination,the CCU may send a lock command to the cart (typically via an accesspoint), or may refrain from issuing a command that authorizes the cartto exit. As another example, if the CCU detects a rapid increase in thenumber of active carts, the CCU may alert personnel (e.g., over a storeLAN) regarding the possible need to open an additional checkout station.

The CCU may also run data mining and reporting software that analyzesthe data collected over time for purposes of detecting meaningfultraffic patterns and trends. For example, the CCU may generate reportsshowing how customers typically progress through the store, and how muchtime they spend in each aisle or other shopping area. This informationmay be used to, for example, adjust the store layout. The CCU may alsogenerate reports showing the status or usage of cart retrievers, forexample, the duration or paths of trips to collect carts, the number ofcarts collected, duration of battery charge or charging time, batterycharge levels, and so forth (see, e.g., FIG. 7A).

The CCU may additionally or alternatively convey the data it collectsover a cellular network or the Internet to a remote node that handlesanalysis and reporting tasks. For example, the CCU (and possibly one ormore access points) may have an autonomous WAN link that uses a cellulardata service such as GPRS to convey the collected data to a remote nodefor analysis and reporting. This feature can be used to monitor thesystem's health from a remote facility. The system may also be capableof being tested and configured via the WAN link from the remotefacility.

As depicted in FIG. 1, the CCU may connect to various other types ofsystems that exist within the store. For example, the CCU may connect toa preexisting alarm system and/or video surveillance system, in whichcase the CCU may be configured to activate an audible alarm or a videocamera upon detecting an unauthorized exit event. As another example,the CCU may connect to a pre-existing central store computer thatmaintains information regarding the states of the store's checkoutregisters; as described below, this information may be retrieved andused by the CCU to evaluate whether a customer has passed through anactive checkout lane.

In some implementations of the system, the CCU may be omitted. In theseimplementations, the access points (APs) may implement all of the realtime analysis functionality that might otherwise be handled by the CCU.For example, an access point mounted in the vicinity of the store exitmay be capable of detecting that a customer is attempting to exit thestore without paying, and deciding whether to send a lock command to thecart. An access point in a cart retriever may be capable of monitoringstatus or usage of the retriever and the carts being collected. Toaccommodate both centralized and distributed installations, each accesspoint may be capable of operating both with and without a CCU.Implementations are also possible in which the access points are omitted(apart from APs in cart retrievers), such that the CCU communicatesdirectly with the cart transceivers or APs in cart retrievers.

The cart transceivers (CTs), access points (APs), and central controlunit (CCU) all operate as uniquely addressable nodes on a wirelesstracking network. As shown in FIG. 1, another type of node that may beincluded on the network is a handheld mobile control unit (MCU). Themobile control unit is designed to enable store personnel to unlockindividual carts via depression of a button, as is known in the art. Themobile control unit may also include functionality for retrieving anddisplaying various types of cart status information, for configuring thewheels/cart transceivers and updating their firmware, and forcontrolling a motorized cart retriever 40 (see discussion of cartretriever 40 below) also referred to as “CM.” The MCU may communicatewith the CCU, APs, or CTs.

The various types of nodes (e.g., cart transceivers, access points,central control unit, and mobile control unit) communicate with eachother using a non-standard wireless communications protocol that enablesthe cart transceivers to operate at very low duty cycles, without theneed to maintain synchronization with the access points when inactive.Consequently, the cart transceivers can operate for extended periods oftime (e.g., approximately 3 years with an average of 0.7 lock/unlockevents per day) using a relatively small battery, such as one CR123A(LiMnO₂) battery or two L91 (LiFeS₂) batteries mounted in the wheel 32.The details of the communication protocol can be similar to thosedescribed in the '540 Patent.

Each cart transceiver (CT) is preferably capable of measuring thereceived signal strength, in terms of an RS SI (received signal strengthindication) value, of the transmissions it receives on the wirelesstracking network. The system may use these RSSI measurements in variousways. For example, a cart transceiver may compare the RSSI value of anaccess point's transmission to a threshold value to determine whether torespond to the transmission. The cart transceiver may also report thisRSSI value to the access point (together with the cart transceiver'sunique ID) to enable the system to estimate the location of, or distanceto, the shopping cart. As another example, the cart transceivers may beprogrammed to generate and report RSSI values of transmissions fromother nearby cart transceivers; this information may in turn be used toestimate the number of carts that are queued at a checkout lane, in acart storage structure, in a cart nest or train being retrieved with amechanized cart retriever 40, or elsewhere. Examples of methods that maybe used to estimate the number of queued or clustered carts in aparticular area are described in the '540 Patent. For example, suchmethods may be used to estimate the number of carts being collected by acart retriever.

Three checkout stations 34 are shown in FIG. 1, each of which includes acheckout register (REG), which typically includes a merchandise scanner.Each checkout station 34 in this particular example includes an accesspoint (AP), which may be mounted to the preexisting pole (if present)that indicates the number of the checkout lane. Each such access pointmay include a connection or sensor that enables it to determine whetherthe respective checkout station is currently active. This information isuseful for assessing whether a customer who passes through the checkoutlane has paid. Several different methods that may be used to sense theactive/inactive state of a checkout station are described below. Eachaccess point that is positioned at a checkout station 34 may use adirectional antenna to communicate with nearby shopping carts/carttransceivers, such as those that are queued in the correspondingcheckout lane.

Access points may additionally or alternatively be mounted to variousother fixed and/or mobile structures in the vicinity of the store. Forexample, as shown in FIG. 1, access points may be mounted to a shoppingcart storage structure 36 (two shown) in the store parking lot. Theseparking-structure-mounted access points may be used to detect and reportthe number of carts stored in their respective areas, and may also beused to enable the in-store access points or CCU to communicate withcarts that would otherwise be out of range.

As illustrated in FIG. 1, an access point (AP) may also be mounted on apower-assisted (mechanized) cart retriever or trolley 40, which may beeither a cart pusher or cart puller. One example of such a retriever 40is the CartManager product of Gatekeeper Systems, Inc. Theretriever-mounted access point may serve various functions related tocart retrieval, including one or more of the following: (1) sendingunlock commands to a nest 41 of carts 30 being retrieved, such that thewheels 32 of these carts are not damaged by being retrieved while in alocked state, (2) detecting whether the cart retriever 40 is being usedto push or pull more than an authorized number (e.g., 15) carts at atime, and disabling the cart retriever 40, and/or reporting the event ifsuch misuse is detected, (3) in embodiments in which the wheel 32 orwheel assembly supports partial braking, instructing the cart or cartsat the front of the nest 41 (particularly in the case of a cart pusher)to apply weak braking so that the carts do not become un-nested, withthe degree of braking applied optionally being dependent upon thedetected slope of the ground; and (4) in embodiments in which the wheels32 include vibration sensors for detecting wheel skid events, respondingto skid-event messages from the carts being retrieved by disabling thecart retriever 40 and/or alerting an operator. It should be noted thatin many cases the wheel skid events occur because a cart being retrievedis mis-nested such that the skidding wheel cannot swivel to point in thecorrect direction.

The cart retriever mounted access point may also monitor status of theretriever (e.g., battery charge, key switch on-time, driving time, etc.)as well as usage statistics of the retriever (e.g., trip duration, trippath, average speed, number of carts retrieved, etc.). In someimplementations, the cart retriever access point can communicate withCTs in the carts (e.g., in a wheel, frame, or handlebar), with the CCU,and with the MCU used to remotely control the retriever 40. For example,in some cases the CT can determine location of the cart, e.g., by usingGPS, AP zone entry/exit, or using a magnetic navigation system. The APin the retriever can communicate with the CT to receive the locationinformation from the CT. The AP in the retriever (or the CT) candetermine whether the cart (or retriever) is following a preset path,e.g., established by the store for efficient or optimal cart collectionby operators of the retriever. The AP in the retriever or the CT cancommunicate operator compliance information to the CCU (e.g., whetherthe operator followed the preset path, an extent of deviation from thepreset path, etc.). The AP in the retriever or the CT can communicateoperator compliance information to the MCU, which may display (e.g., ondisplay device, see, FIG. 7B) a warning to the operator if the cart orcart retriever is straying too far from the preset path. In some cases,the cart retriever may apply a brake, cut power to the retriever motor,or sound a horn or light a light, if the operator is not in compliance.In some implementations, the path may include time milestones that theoperator is to meet in order to efficiently collect carts. The CT or theretriever AP may monitor compliance by the operator with directing thecart along the path at the appropriate speed to meet the timemilestones.

In one embodiment, the cart retriever 40 is a battery powered cartpusher that is adapted to be positioned at the rear of a cart stack tobe retrieved. The operator manually steers the cart stack by holding thefront cart with one hand while holding the MCU in the other hand. Via aset of buttons on the MCU (see, e.g., FIG. 7B), the operator can controlthe forward and backward direction and speed of the retriever 40.Various type of status information may be displayed to the operator on adisplay of the MCU, such as the estimated number of carts beingretrieved (as determined using the cluster analysis methods described inthe '540 Patent), the speed of the retriever, trip duration, etc. If theretriever-mounted access point detects a misuse condition (e.g., a skidevent or too many carts being pushed), it may disable the retriever 40in various ways, such as by “spoofing” a manual throttle interface, orif the retriever 40 contains a motor controller with a digital externalcontrol interface, by issuing a stop command via this interface.

The example store configuration in FIG. 1 is also shown as having a VLFsignal line 44 embedded in the pavement along an outer perimeter of theparking lot. Such signal lines are commonly used in theft preventionsystems to define the outer boundary of the area in which shopping cartsare permitted. In such prior art systems, the wheel 32 of each shoppingcart includes a VLF receiver that detects the VLF signal, and engagesthe brake, when the cart is pushed over the signal line 44. Although notshown in FIG. 1, a VLF line may also be provided at the store exit suchthat all carts that pass through the exit have to cross over this line,and/or at other locations of interest.

While the present system does not require the use of a VLF signal line44, the system is preferably capable of using one or more VLF lines as amechanism for monitoring cart location. Specifically, cart transceiver(CT) includes a VLF receiver in certain embodiments. The VLF receivermay be capable of detecting a code transmitted on a VLF line, so thatdifferent lines can be used to uniquely identify different areas orboundaries. When the VLF signal is detected, the cart transceiver maytake various actions, depending on the circumstances. For example, thecart transceiver may attempt to report the VLF detection event on thewireless tracking network and then wait for a command indicating whetherto engage the brake. If no command is received within a pre-programmedtime period in this example (e.g., 2 seconds), the cart transceiver mayautomatically engage the brake. In other embodiments, the VLF signal isnot used, and the system may operate wirelessly via the APs.

As will be apparent from the foregoing discussion, many of thecomponents shown in FIG. 1 are optional components that may or may notbe included in a given system installation. For instance, the magneticmarkers, the EAS towers, and/or the VLF signal line can be omitted. Inaddition, either the access points or the CCU can be omitted. Further,the illustrated components may be arranged differently than illustrated.For instance, VLF signal lines could be provided in the checkout lanesand/or in the store exit/entrance (e.g., in place of the magneticmarkers and EAS towers shown) to enable the carts to detect checkoutevents and exit/entrance events, respectively. Further, other types ofsignal transmitters and detectors/receivers could be used to monitorcart locations.

Cart Retriever

FIG. 2A shows a schematic illustration of a cart retriever 40 connectedwith a shopping cart via a connection assembly 201. Some embodiments ofthe connection assembly 201 are configured to connect with a shoppingcart and to mount to a cart retriever 40. Generally, the cart retriever40 is a steerable self-propelled, motorized material handling vehiclethat is configured to provide sufficient power to push (or pull) atleast one nested chain of carts (sometimes referred to as a cart train).For example, the cart retriever 40 may be configured to push or pull atleast: 10 carts, 20 carts, or 30 carts. In certain implementations, thecart retriever 40 is configured to push or pull at least: about 500pounds, about 1,000 pounds, or about 1,500 pounds. The cart retriever 40typically includes an electric motor that is powered by one or morerechargeable batteries (e.g., a number of 12 V automobile batteries). Insome cases, the retriever 40 can include an engine that is powered bypetroleum fuel or natural gas. The cart retriever 40 can include a drivetrain (not shown) that is powered by the electric motor and which causeswheels of the retriever to turn so as to provide traction to theretriever for forward or reverse movement.

In certain configurations, and as will be discussed in further detailbelow, a cart 30 (e.g., a wheeled retail shopping cart) can be connectedto a front of the connection assembly 201. Additional carts can benested with the first cart, thereby providing the ability for theretriever 40 to move, via the connection assembly 201, a train 41 ofnested carts. In some embodiments, the connection assembly 201 isconfigured to connect with a rear portion of a frame of the cart, suchas the rear legs of the cart, for example, by using spring-loaded hooksor latches. In other embodiments, the connection assembly 201 caninclude cups that hold the rear wheels of a cart. In variousembodiments, the rear wheels of the cart remain in contact with theground during connection with the connection assembly 201, which canfacilitate engagement and provide enhanced durability of the connectionassembly 201.

FIG. 2B shows a perspective view of an embodiment of a motorized cartretriever 40. In the embodiment of FIG. 2B, a cart retriever 40 has aconnection assembly 201 that connects to two generally vertical portionsof the cart, such as a generally vertical bar or strut. In someembodiments, the cart retriever 40 can have a connection assembly in theform of U-shaped cart cradles, with each cart cradle configured to holda rear wheel of a cart that can be lifted up and then set down inside ofthe cart cradle. Some cart cradles are configured to hold the rearwheels off the ground by supporting the rear wheels from below, whileother cart cradles are open at the bottom and keep the rear wheels onthe ground.

The cart retriever 40 can have one or more cart hooks 203. The cart hookcan be used to anchor an end of a rope that is used to help secure thenest 41 of carts 30 to the retriever 40. When the cart retriever isconnected to a train 41 of carts 30, the rope can be looped around thetrain 41 of carts 30 and connected or hooked to one of the carts, tomake sure that the carts do not break away from the train 41.

The cart retriever 40 can have a hood 204 that can be opened by liftinga handle 205. A hood lock 206 can be used to prevent unauthorizedopening of the hood and can require a key, password, or some otherauthentication in order to open. Opening the hood can allow access tointernal parts of the cart retriever. These may include the electricmotor, one or more batteries connected to the motor, circuitry such as acontrol circuit for controlling the operations of the retriever, e.g.,forward and backward movement, operating a brake, a horn, a light, etc.(see, e.g., FIG. 4), and other components. For example, the controlcircuit can include the functionality of an access point describedherein.

FIG. 3 shows a rear view 300 of an embodiment of a cart retriever 40.The cart retriever 40 includes a strobe light 301. The strobe light canlight up, flash, or blink to alert people to the cart retriever'spresence. The strobe light 301 can change its lighting pattern based onthe operational state of the cart retriever 40. For example, it canchange brightness, on/off duty cycle, strobe speed, color, etc. when thecart retriever 40 is stopped, moving forward, going backward, fast,slow, alone, connected to a nest 41 of carts 30, etc. The cart retriever40 also has a brake light 302 that will light up when the cart retriever40 is applying the brakes. The strobe light 301 and brake light 302 canbe mounted on a light pole 303. The brake light 302 and strobe light 301can be different colors from each other, such as red for the brake light302 and yellow for the strobe light 301.

The cart retriever 40 also includes a wigwag throttle grip 304. Thethrottle grip 304 sends a signal to a controller that commands the motorto turn the wheels at an appropriate rate. Turning the throttle grip 304in one direction causes the wheels to turn forward (for forward motion).Turning the throttle grip 304 in the opposite direction causes thewheels to turn backward (for reverse motion). The speed that the wheelsturn can be controlled by how far forward or backward the throttle grip304 is turned.

Braking can work in a variety of ways. In some embodiments, the cartretriever 40 will apply the brakes as long as the throttle grip 304 isnot turned forward or backward, e.g., the throttle grip is in thedefault position. In other embodiments, turning the throttle grip 304 ina backward direction will apply the brakes instead of moving theretriever in reverse. In some embodiments, one of the left or rightthrottle grips 304 will control moving forward or backward, and turningthe other of the left or right throttle grip 304 will cause the cartretriever 40 to brake. In other embodiments, a handle brake or a footbrake can be used. In some implementations, when the cart retrieverneeds to stop, it will send commands to the CTs in the nested carts tosignal the CTs to apply brakes. An emergency stop button 306 can bepressed to immediately stop the cart retriever 40. Pressing theemergency stop button 306 can apply an emergency brake, cut off power tothe wheels, turn off electrical systems, etc. The emergency stop buttoncan override other commands so that even if the throttle grip 304 isturned to accelerate the cart forward, the cart retriever 40 will ignorethe throttle grip 304 and instead set the emergency brake. The effect ofthe emergency stop button 306 can last for a duration longer thanpressing of the stop button. For example, the cart retriever 40 can bein an emergency stopped state for 5, 10, 15, 30, or 60 seconds or 2, 3,5, or 10 minutes after the emergency stop button 306 is pressed, orindefinitely until a reset button is pressed, a reset signal isreceived, an ignition key is turned, power is cycled, etc.

The cart retriever also includes a button 305 for a horn. When pressed,the horn can emit a loud sound to alert surrounding people to thepresence of the cart retriever 40. The horn can be loud enough topenetrate through cars and reach across a parking lot. For example, if acart 30 breaks away from a nest 41 of carts 30 connected to the cartretriever 40, then the horn can be loud enough to alert otherwiseunaware people who might be in the way of the runaway cart. The horn canbe automatically activated to alert operators when the battery is fullycharged, when the cart begins to move, when an error condition such aswheel skidding occurs, etc.

The cart retriever 40 also includes a remote control 308 that can beplaced in a remote control holder 307 for storage when the remotecontrol is not being used to control the retriever. The remote control308 can implement the functionality of the MCU described above. Theremote control 308 can be removed and used at a distance from the cartretriever 40 by an operator to send wired or wireless control signals tothe cart retriever 40. If the remote control 308 is wireless, then thecart retriever 40 can have a remote control antenna 309 to receive thewireless control signals. The remote control 308 can allow an operatorto issue control signals such as to move forward (at one or moredifferent forward speeds), backward (at one or more different reversespeed), brake, honk the horn, etc. that the cart retriever 40 canperform (see, e.g., FIG. 7B). An operator holding the remote control 308can be at the front of a nest 41 of carts 30 to lead the direction ofthe nest 41 of carts 30 while commanding the cart retriever 40 to moveforward or backward.

The cart retriever 40 includes a display device 310. The display device310 can be used to indicate one or more statuses of the cart retriever40. For example, the display device can include a screen (e.g., liquidcrystal display (LCD), an electrophoretic display (e.g., ePaper), amicroelectromechanical systems (MEMS) display), a series of lightemitting diodes (LEDs) such as an LED light bar, a 7 segment display,etc. that indicates the current battery charge, error codes, or otherinformation.

The cart retriever 40 can include one or more rechargeable batteries 311inside of the unit (e.g., under the hood 304). The cart retriever canhave a power cord that plugs into a power outlet in order to charge thebattery 311. The power cord can be wrapped around a hook for storagewhile the cart retriever 40 is not charging the battery 311. In someembodiments, the power cord can be detachable from a socket 313 on thecart retriever 40, allowing the power cord to be stored elsewhere whilethe cart retriever 40 is in use.

The cart retriever 40 can have a plurality of wheels 314, 315. One ormore of the wheels 314 can provide traction to the retriever and beconnected by gears, chains, drivetrain, etc. to the motor to receivepower and torque. These wheels 314 turn forward or backward when thethrottle grip 304 is turned or when the forward or backward command isissued from the remote control 308. In addition, the wheels 314 can berigidly oriented in a fixed direction. A swivel wheel 315 can provideadditional support for the cart retriever 40 without being connected tothe motor. The swivel wheel 315 can be connected in a way that allowsthe swivel wheel 315 to freely swivel or to be controlled by swivelingthe handles of the of the throttle grip 304.

The cart retriever 40 can also have an anti-static chain 316, which canbe a durable, conductive material that electrically couples the cartretriever to the ground so that the retriever does not accumulate astatic charge. The cart retriever 40 can also have a key switch 317. Thekey switched 317 can receive a key to turn the cart retriever 40 on oroff, and may include other positions like lock, neutral, parking etc.The cart retriever 40 can also have a brake release lever 318. The brakerelease lever 318 can be pushed, depressed by foot, or otherwiseoperated to release brakes applied to the wheels 314, 315 of the cartretriever 40 and to send a brake command signal to any nested carts thatthe cart retriever 40 is pushing or pulling.

Any of the components of the cart retriever 40 (including any of thosedescribed above) can be monitored for their status, which can bedisplayed (e.g., via the display device 310 or a display on the remotecontrol 308) or communicated via the retriever's AP to the CCU (foranalysis, reporting, or display). For example, status of the key switch317, battery 311, throttle 304, horn, hood 204 (e.g., open or closed orlocked), lights 301, 302, remote control 308 (e.g., status of buttonpresses, identity of which remote control is associated or paired withthe retriever), emergency brake 306, battery status (e.g., charge leversor charge time), and so forth can be monitored, analyzed, or reported bythe controller, as will be further described herein.

Control Circuit Overview and Component Functions

FIG. 4 shows a schematic block diagram of an embodiment of a controlcircuit 400 for a cart retriever 40. The control circuit 400 issometimes referred to as a controller. The control circuit 400 can beused to control the operations of the cart retriever and may beresponsive to a variety of inputs, e.g., from a manual throttle or aremote control. A processor or microprocessor 401 can process inputs andresponsively generate output signals that operate functionalities of theretriever 40. These can include receiving input signals indicating amovement speed and direction (e.g., forward or reverse), calculatingproper signals to send to a motor, setting a brake, activating a horn,etc. In some implementations, the control circuit 400 controls themotor, while in other implementations, the control circuit 400 sendscontrol signals to a separate motor controller that controls theoperations of the motor (together the circuit 400 and the motorcontroller can be considered the control circuit for the retriever). Thecontrol circuit 400 can be configured to implement the functionality ofan access point (AP). The control circuit 400 can be configured anddesigned differently in other embodiments, and the example shown in FIG.4 is intended to be illustrative and not limiting.

The circuit 400 can output a drive command to the motor. For example,the drive command can include an analog SPEED signal 402 to control thespeed of the retriever and output a forward/reverse (FWD/REV) signal 403to control whether the cart retriever 40 moves forward or in reverse. Insome embodiments, the circuit 400 may combine the FWD/REV and SPEEDsignals into a single signal, e.g., with a first range of voltages (suchas negative voltages) for REV and a second range of voltages (such aspositive voltages) for FWD.

When collecting a nest of carts, it would be disadvantageous if thewheels of the nested carts were to lock (or brake) when driven over aburied VLF signal wire (or encountering a locking field from an AP).Thus, the control circuit 400 can provide a wheel unlock radio functionto unlock (or keep unlocked) the wheels of nearby carts. A transceiver408 can transmit signals from the microprocessor 401 through an antenna407. The microprocessor can be programmed to automatically generate anunlock command while the cart retriever is moving, when it begins tomove, when it detects a skid condition, etc. The unlock command can be anormal unlock command, or it can be an “unlock and do not lock for 30seconds” command to wheels on carts that are in the vicinity of theretriever 40. Examples of cart wheels that have locking or brakingfunctionality and provide for two-way communication are described in the'540 Patent. The unlock radio can support multiple modes of operationincluding, but not limited to sending unlock commands while theretriever is moving, sending unlock commands while the retriever keyswitch is on, and sending unlock commands while the retriever is movingfor a programmable time after movement stops.

The transceiver 408 can also send and/or receive commands and statusrequests from an AP, a CT, the MCU, or the CCU. For example, thetransceiver 408 can receive an unlock command from the CCU and thenretransmit that unlock command to the CTs of nearby carts. As anotherexample, the transceiver 408 can receive a status report command (e.g.,from the CCU, AP, or MCU) and then report on various status or usageparameters, such as the battery level, extent of usage, total hoursused, etc. The '540 Patent describes other commands that can be issuedto a CT of a cart by the AP of the retriever.

The control circuit 400 can include a remote radio receiver (ortransceiver) 405 that can receive wireless signals from the wirelessremote control 308 through an antenna 406. For example, the wirelessremote control 308 may send signals such as “forward” or “backward” anda corresponding speed. Although FIG. 4 illustrates a separate receiver405 and transceiver 408, in other embodiments the functions of thereceiver 405 and the transceiver 408 can be combined into a singletransceiver, and the antennas 406 and 407 can be similarly combined.Usage of the transceiver for the different purposes can be time orfrequency multiplexed or otherwise divided.

The microprocessor 401 can receive both analog and digital inputs.Analog inputs to the microprocessor 401 can be converted by an analog todigital converter (ADC) for processing. Although the example in FIG. 4shows a microprocessor 401 with a built in ADC 409, some circuits canhave a separate ADC for one or more input signals. Analog inputs caninclude signals from the key switch 317, throttle potentiometers,relays, battery voltages, interlocks, and so forth.

For example, an interlock signal can trigger when the battery ischarging to prevent the retriever from functioning. Other examples ofinterlock mechanisms to activate the signal can include buttons orswitches on the remote control 308 or cart retriever 40 that need to beheld down in order for the cart retriever to function. Other interlockmechanisms include a circuit that closes only when the hood 204 isclosed. In some embodiments, an interlock signal can be used to resolveconflicts between signals from the remote control 308 and the throttlegrip 304.

The battery charge state can be estimated based on the current batteryvoltage, with a higher measured voltage indicating a higher batterycharge. A battery voltage signal can be sent to the control circuit 400and the battery charge state can be indicated to the user through thedisplay device 310.

The microprocessor 401 has the ability to check the voltages sent to themotor drive unit for accuracy and correctness. The SPEED and FWD/REVsignals are fed back to the microprocessor. The microprocessor canconvert the analog SPEED and FWD/REV signals that are output to themotor controller into digital signals, and then check to make sure thatthe digital value is a properly calculated based on the recent orpresent inputs. The microprocessor can store recent input values orcalculated proper output values for comparison against the SPEED andFWD/REV and account for any timing delays.

The microprocessor 401 can receive digital inputs from switches (SW)that can be placed in various parts of the cart retriever 40 to indicatewhether a component or circuit is open or closed. For example, theswitches can be located at the hood 204 to indicate whether the hood 204is open or closed. Signals from the switches can be sent to themicroprocessor 401 for logging or for performing a suitable action(e.g., lighting a display or LED if the hood is open).

The control circuit 400 can include a wireless network chip 410 (e.g.,implementing Institute of Electrical and Electronics Engineering (IEEE)802.11 standards or Wi-Fi), a universal serial bus (USB) port 411, acellular communication modem (e.g., general packet radio service (GPRS)modem) 412, a global positioning system (GPS) chip 413 (e.g., todetermine a GPS location for the retriever), and a short distancewireless chip 414 (e.g., a Bluetooth or Bluetooth low energy chip). Inother embodiments, some or all of these modules or chips can be left outor arranged differently than shown in FIG. 4. The control circuit 400can communicate retriever status or usage information or send or receivecontrol commands to CTs, APs, MCUs, CCUs, using one or more of thetransceivers 405, 408 or the Wi-Fi, GPRS, or Bluetooth chips.

The example control circuit 400 illustrated in FIG. 4 includes watch dogchip (WD) 415 that can be used to ensure that the circuit does notfreeze or remain stuck in an error state. It can be programmed to sendreset signals to the various chips such as the microprocessor 401 or adigital to analog converter (DAC) 416 if the WD 415 does not receiveinput indicating proper circuit functionality within a certain window oftime. As a safety feature, the watch dog chip 415 can return the DAC 416and relays to a default state (e.g., retriever not moving) if themicroprocessor 401 fails.

The circuit 400 can receive commands from the remote control 308 (alsoreferred to herein as the MCU). In some embodiments, the remote control308 can have one or more drive input buttons that can be depressed toselect the retriever speed (see, e.g., FIG. 7B). For example, in someimplementations, two speed buttons are used (sometimes referred to as“Rabbit” and “Turtle”, which indicate two different retriever speeds,with the Turtle speed being slower than the Rabbit speed). The Rabbitand Turtle speeds may be programmed in the microprocessor 401 or viapotentiometers to suit the needs of the customer. Maximum forward andreverse speeds may also be programmed. In some embodiments, the circuit400 supports a continuously variable remote control throttle. Forexample, rather than having a hand held remote control with two (e.g.,Rabbit and Turtle) drive buttons, the hand held remote could include atrigger or knob.

In use, it may be possible for the control circuit 400 to receivesignals from both the manual throttle 304 and the remote control 308.For example, an operator standing at the front of a train of carts maypush the Rabbit button at the same time that another person turns thethrottle grips 304. The control circuit 400 can be configured to resolveconflicts between commands received from the throttle grip 304 andcommands received from the remote control 308. For example, in variousimplementations, the control circuit 400 can support single or multiplemodes of conflict resolution including one or more of the following: 1)do not apply power to the motor if more than one drive input isreceived; 2) stop applying power to the motor if more than one input isreceived; 3) set the brake if more than one drive input is received; 4)obey the first drive input that is received; 5) obey the last driveinput that is received; 6) obey the remote control input; 7) obey thethrottle input; 8) obey the command representing the fastest speed; 9)obey the command representing the slowest speed; 10) sound the horn; or10) flash the light.

Status Monitoring, Usage Monitoring, Fault Detection, Logging, andReporting

The control circuit 400 can add performance, status, and usagemonitoring, fault detection, event logging, and reportingfunctionalities, in various embodiments. For example, the microprocessor401 can be used to detect or monitor the status, usage, and faults, andthe microprocessor 401 can log the information to a memory 419. When themicroprocessor receives a request to report information (e.g., from theCCU) or at various times or places (e.g., when stored for charging), itcan read or otherwise cause the logged information to be transmitted.This can be done, for example, through one or more of the Wi-Fi chip410, the GPRS chip 412, or the transceivers 405, 408. A flash drivecould be connected via the USB connection 411 to receive theinformation, The microprocessor 401 can report the status or fault uponcertain events without receiving a request. For example, themicroprocessor can report faults immediately, even without logging. Itcan report the status after being turned on or after certain timeintervals.

In addition to reporting faults as data, the circuit 400 may beprogrammed to visually or audibly indicate a fault or error condition.Error indication may include, e.g., honking the horn or flashing LEDs.Fault conditions can include, for example, when more than one driveinput is received by the control circuit 400 (e.g., the throttle grip304 and the remote control 308 are both active), when too many carts areloaded onto the cart retriever, when the cart retriever cannot push thecarts up an incline or out of a pothole, when the battery charge is toolow, when wheel skidding is detected, when the brake has not beenreleased but an operator is attempting to move the cart retriever, whenone or more circuit components fail, etc.

The control circuit 400 can limit the speed of the retriever when thebattery discharges to a programmable level to prevent battery damage.The circuit 400 may also be programmed to indicate that it is operatingin “low battery, speed limited mode” by honking the horn or flashingLEDs.

The circuit 400 can monitor the various performance, status, usage, orbattery parameters, and can report the data to the CCU. In some cases,the CCU may permit customers to login (e.g., via a user interface), inorder to view information about the monitored retrievers and view usagereports.

Parameters that may be monitored and reported by the retriever caninclude but are not limited to one or more of the following parameterscategories: 1) battery parameters, 2) time usage parameters, 3) locationusage parameters, 4) speed usage parameters, and 5) miscellaneousparameters. These categories are intended to illustrate the types ofparameters that can be monitored but the categories not intended to belimiting or mutually exclusive. Further, describing a parameter asfalling under one of the categories (for purpose of illustration) doesnot mean that the parameter could not also be categorized in one or moreother categories.

1) Battery Parameters

The current battery charge level can be recorded for the retriever, thecarts, or the remote control 308. The current battery charge can beestimated, for example, by measuring the voltage or current supplied bythe battery. The battery charge (or capacity) in a cart transceiver(e.g., a battery in the wheel), in the retriever itself, or in abattery-operated remote control can also be measured and communicated tothe control circuit 400. Other parameters can include whether a batteryis currently charging, the duration of battery charging, the charge (ordischarge) state of a battery, maximum or minimum battery voltages,currents, charges, or capacity, the age of the battery, and when thebattery was last charged, repaired, or replaced in a retriever. Forexample, the charge state can reflect a current charge state or a chargestate when the battery is disconnected from the charging source (e.g.,fully charged, partially charged, a percentage charge, etc.). Thebattery parameters can be collected for each battery in a retriever(e.g., some retrievers include two, three, four, or more batteries).

These parameters can be used, for example, to determine if a batteryneeds replacement, service, or recharging. For example, gathered datarelating to battery levels can be analyzed to determine that a batteryneeds to be replaced (not just recharged) if a cart retriever has beenconnected to a power source, has charged its battery for an extendedperiod of time sufficient to fully recharge the battery, wasdisconnected from the power supply so that it stopped charging, reporteda low maximum battery voltage, current, power, or capacity after anextended charging period, or the retriever was operated for only a shortamount of time and pushed a small number of carts before the battery ranout. Different combinations of these parameters can be used to determinewhen a battery needs to be replaced. For example, a battery that is morethan three years old may need to be replaced regardless of any otherparameters. If a retriever, cart, or remote control reports a lowbattery level, then a communication (e.g., electronic mail, textmessage, or other alert) can be sent to a supervisor so that an employeecan be sent to charge. service, or replace the battery.

This information can also be used to forecast useful lifespans andmaintenance needs of carts and cart retrievers. The controller canmonitor and record the charge state (voltage) of the CM battery(s) aswell as the charging times and durations of charging. The controller canalso report the battery charge state via an LED light bar.

Since many retrievers, transceivers, and remote controls are batteryoperated, the foregoing status and usage parameters have been describedwith reference to a battery (typically, but not necessarily, arechargeable battery). In other implementations, retrievers,transceivers, remote controls (or other components) can be powered(additionally or alternatively to batteries) by power sources such asultracapacitors or supercapacitors, fuel cells, etc. In suchimplementations, any of the foregoing parameters (described withreference to a battery) can be monitored for the particular type ofpower source used in the retriever, transceiver, remote control, orother components associated with the cart retriever.

2) Time Usage Parameters

A variety of status or usage parameters can be collected for theretriever 40, the carts 30, and the remote control unit 308. These caninclude the total time that a unit is powered on, the current uptime,the total driving time, timestamps (e.g., time when a trip starts orends), average usage duration, etc. Some of these time usage parameterscan be calculated by an internal clock in the circuit 400. Some of thetime usage parameters such as a timestamp can be based, at least inpart, on an initial time or synchronization signal broadcast from theCCU, AP, MCU, etc. Time usage parameters relating to the retriever andthe remote control can include the retriever driving time whencontrolled by the remote control, the retriever driving time whencontrolled by the manual throttle, the retriever driving time spentusing a high speed (e.g., Rabbit), the retriever driving time spentusing a low speed (e.g., Turtle), the duration of a cart retrieval trip(e.g., when one or more carts are coupled to the retriever), the totalduration of a cart retrieval trip (e.g., whether or not the retriever iscoupled to a cart), or the amount of time spent idling (e.g., when thekey switch is on and the retriever is not moving). Time durationparameters can include an average trip time beginning from a particularstarting point, an average time to end at certain stopping points, or anumber of stops per trip (e.g., to add additional carts to the train).The time usage parameters can be for a particular cart retrieval trip, agroup of cart retrieval trips, a period of time (e.g., daily, weekly,weekends, nights, etc.) or can reflect cumulative times (e.g., totaltime being operated from a fiducial time).

When collected, these parameters can be used to generate reports andstatistics helpful for managers. For example, shopping center managersoften send employees to collect shopping carts from parking lots. Whenthe employees can use a cart retriever to collect shopping carts, thetrip time can be reported. This information can be analyzed by the CCUto compare how effectively the retrievers are deployed at a store. Asanother example, the total time that a unit is powered on may reflectthe age of a unit. If a cart has been powered on for a significant time(or has a battery that has experienced a relatively large number ofcharge/discharge cycles), then this can indicate that the battery willlikely need to be replaced. As another example, a high total drivingtime of a cart retriever can indicate higher wear and tear than a secondcart retriever, even if both cart retrievers are the same age. Thisinformation can be used to allow operators to try and use cartretrievers evenly in order to distribute the wear and tear.

3) Location Usage Parameters

Location parameters of the retriever, the carts, and the remote controlcan also be monitored. These parameters can include a location based onthe proximity of the retriever (or a cart coupled to the retriever) to aknown reference point such as an access point, a location determinedbased on RSSI values from multiple reference points, or a locationdetermined based at least in part on a GPS position. The number orlocation of carts can be determined with respect to cart retrievers, forexample, using the queue count estimation techniques disclosed in the'540 Patent. The controller can use a GPS module to determine andmonitor a path that the retriever follows. This information can becombined, for example, with the timestamp data to calculate a GPSdetermined speed. The retriever location can additionally oralternatively estimated by determining when the retriever (or a cartcoupled to the retriever) enters a “zone” established by directionalantennas and APs, as described in the '540 Patent. The history of thezones entered (or exited), the identification of the AP associated witheach zone, etc. can be monitored. In some implementations, a cart wheelcan include a magnetic navigation system that estimates cart positionusing dead reckoning techniques. In some such implementations, thelocation of the cart retriever can be determined based on the estimatedlocation of one or more wheels of the carts being collected by theretriever.

In some cases the cart's CT can include circuitry to determine locationof the cart, e.g., by using GPS, AP zone entry/exit, or using a magneticnavigation system. As discussed, the CT can be disposed in variousplaces in the cart including the wheel, the frame, and/or the handlebarof the cart. The control circuit 400 can communicate with the CT toreceive the location information from the CT. The control circuit 400(or the CT or a CCU such as a fleet management system 500 shown in FIG.5) can determine whether the cart (or retriever) is following a presetpath, e.g., established by the store for efficient or optimal cartcollection by operators of the retriever. The control circuit 400 or theCT can communicate operator compliance information to the CCU (e.g.,whether the operator followed the preset path, an extent of deviationfrom the preset path, etc.). The control circuit 400 or the CT cancommunicate operator compliance information to the remote control 308,which may display on the display device 750 a warning to the operator ifthe cart or cart retriever is straying too far from the preset path. Insome cases, the cart retriever may apply a brake, cut power to theretriever motor, or sound a horn or light a light, if the operator isnot in compliance with following the path (e.g., strays beyond athreshold distance from the path). In some implementations, the path mayinclude collection times that the operator is to meet in order toefficiently collect carts. The CT or the control circuit 400 may monitorcompliance by the operator with directing the cart along the path at theappropriate speed to meet the collection times and report operatorcompliance with the meeting the collection times, communicate a warning(e.g., “Slow Down” displayed on the remote control 308), or take someother corrective or remedial action if the collection times are notbeing met.

Location parameters can enable a manager to identify where scatteredcarts are located when they need to be retrieved, to determine ifwhether the number of stored carts is sufficient, if the number ofstored carts is too low and scattered carts need to be returned tostorage, or operator compliance with following a preset collection pathor collection times. In addition, data such as where the cart retrieversor carts have been (and for how long) can be used to determine trafficpatterns of cart operators. At a retail store, for example, this candata be analyzed by the CCU to see which areas of a store parking lottend to accumulate carts, efficient or optimal collection paths for theretrievers to follow, optimal times for collecting carts, and so forth.In addition, location data can be used to determine which carts havebeen collected by a particular cart retriever, statistics on the numberof carts collected per retriever per trip (e.g., average, maximum,minimum, variances, etc.). Location data can also be used to determinewhether or not carts or cart retrievers moved into, stayed in, and leftcertain areas in the store or parking lot. In the shopping context, thiscan indicate whether or not shoplifting occurred. In a shopping cartcontext, indicating that a shopping cart that did not move into an areaaround the cash registers, stop, remain there for a period of time, andexit the cash register area before exiting the store can be an indicatorof shoplifting.

4) Speed Usage Parameters

Speed usage parameters of the retriever, the carts, and the remotecontrol can also be monitored. This can include monitoring the averagespeed per trip (e.g., when loaded with carts), average speed overall,maximum or minimum speeds, etc. The speed can be calculated based onlocation parameters (e.g., determined by RSSI values or determined fromusing the GPS positions) and time parameters. In some cases, theretriever may have controller functionality that estimates speed (e.g.,by monitoring motor output) or a tachometer or other device thatmeasures speed.

The speed of the retriever can be used to provide other functionality.For example, if an operator is moving the retriever above a threshold(or safe) speed, display device on the retriever (or the remote control)can display a warning to the operator to slow down. If sufficient timepasses and the retriever remains above the threshold speed, the controlcircuit 400 can perform a corrective action such as cutting power to themotor or applying the brake.

The control circuit 400 (or the CCU) can use various definitions for atrip when calculating usage data. For example, a cart retriever canbegin a trip when it is powered on and end the trip when it is poweredoff. A trip can begin when a cart is first attached to the retriever andend when the last cart is removed from the retriever. As discussedherein, the queue estimation methodology of the '540 Patent can be usedto determine proximity of a cart (typically, a CT in a cart wheel) tothe retriever. Thus, the control circuit 400 can use the queueestimation logic of the '540 Patent to determine the number of cartsbeing collected (e.g., the number of carts within a threshold distance,typical of a length of a cart train, of the retriever). For a cart, thetrip can last from when it leaves and returns to a storage corral orwhen it enters and exists a building. Trips can also end when the cartreaches certain access points such as those at the checkout lane or whenit reaches a certain MAG or EAS.

5) Miscellaneous Parameters

Other miscellaneous parameters can also be monitored. This can includethe number of carts loaded onto a cart retriever, the identities of thecarts (e.g., a unique CT identification code), the number ofsimultaneous throttle signals (e.g., from the throttle grip and from theremote control), the number of times that the horn has activated in atrip, or the fault history of any detected faults (e.g., errorconditions or low battery). Typically, a single remote control isassociated with the AP in the retriever (e.g., by pairing) so that onlythe associated remote control can control the retriever. The controlcircuity can monitor the remote control association time and history(e.g., when, where, and how often the remote control was associated withretriever, swapped or changed). The circuit can monitor the identity ofthe remote control that is associated with the retriever (e.g., a uniqueremote control ID used in pairing the retriever and the remote control).The circuit can monitor whether there are attempts to try to associate asecond remote control with the retriever, after a first remote controlhas been associated with the retriever. Other miscellaneous parameterscan include maintenance history of the retriever, when and for how longthe hood is opened, etc.

The CT in each cart can communicate status information associated withthe cart, cart wheel, the CT itself, and so forth to the control circuitof the retriever for logging and analysis. In some implementations, thewheel includes a brake (or motion inhibition mechanism), and the CT cancommunicate the state of the brake to the retriever (e.g., unlocked,locked, fully braked, partially braked, etc.). The wheel may alsoinclude other components whose status or usage can be reported by the CTto the control circuit of the retriever for monitoring. Examples of suchcomponents that can be monitored include (but are not limited to) apower generator that generates electrical power from the rotation of thewheel, a magnetic navigation system that estimates a location of thewheel using magnetic dead reckoning techniques, a vibration sensor fordetecting wheel skid events, a temperature sensor, a wheel rotationsensor, a heading sensor (e.g., a compass), a motion sensor, a magneticfield sensor, an orientation sensor (e.g., an accelerometer, agyroscopic sensor, a magnetometer, etc.), and so forth. Examples ofwheel components that can be monitored are described in U.S. Pat. No.7,658,247, U.S. Pat. No. 8,046,160, and U.S. Pat. No. 8,820,447; each ofthe foregoing patents is hereby incorporated by reference herein in itsentirety for all each patent discloses, so as to form a part of thisspecification.

In some implementations, the cart may include a display unit thatattaches to the shopping cart's handle (or elsewhere on the cart). Thedisplay unit may display ads, messages, or other information to astore's customer. The control circuit in the retriever can communicatewith the display unit (typically, via the cart's CT) and may loginformation from the display unit such as, e.g., what ads or informationwere communicated to the store's customer.

A number of any of the foregoing (or other) parameters that aremonitored by the control circuit 400 can be aggregated in order togather information about the cart retrievers and the carts. A cart fleetmanagement system (e.g., the network system 500 described with referenceto FIG. 5) can aggregate 5 or more, 10 or more, 15 or more, 20 or more,or 25 or more of these parameters in order to generate an overallpicture of the health or status of the system or any component of thecart and cart retriever fleet. The system can display the resultsthrough a user interface provided by the CCU (see, e.g., FIG. 7A).

The CCU can combine any of the parameters to provide differentindications of the health or status of a cart retrieval system. Forexample, various indicators of battery health of a cart retriever can becombined with the average usage time of a cart retriever before itsbatteries discharge in order to determine if a battery is no longergood. As another example, location parameters and speed parameters canbe used to determine traffic of cart collection, enabling managers toredesign or relocate pathways or collection areas to for betteraccessibility. As another example, the useful battery life of a cartretriever can be estimated based on past usage. The central control unitcan use data mining techniques to, for example, estimate, based on howquickly a cart retriever used its battery power in the past whilepushing a certain number of carts for certain durations at certainspeeds, how many carts a cart retriever can push for how long at certainspeeds based on a current battery level.

System Features

FIG. 5 shows an illustration of an example network cart fleet managementsystem 500 for managing or monitoring carts or cart retrievers. Acentral control unit (CCU) 501 is configured to analyze cart or cartretriever event data (cart fleet event data) acquired via communicationsthrough a network 502 with the access points in cart retrievers 40, carttransceivers (CTs) in carts 30, access points (APs) distributedthroughout or near a facility (e.g., a store and its parking lot),electronic article surveillance towers (EASs), and mobile control units(MCUs). The communication can be one-way or two-way in variousembodiments. The event data can comprise any of the status or usageparameter described herein, including but not limited to any of the 1)battery parameters, 2) time usage parameters, 3) location usageparameters, 4) speed usage parameters, and 5) miscellaneous parameters.The CCU 501 can be implemented on computing hardware, which can includea computing device programmed with specific executable instructions. Thenetwork 502 can be a wireless network that supports Wi-Fi or a cellularprotocol such as GPRS. The network 502 can be configured as a wide areanetwork (WAN), local area network (LAN), personal area network (PAN), orother type of network. The network 502 can include connection to theInternet. In some embodiments, the CCU and other devices can communicatedirectly to each other without intermediary routing hardware, such asthrough a Bluetooth communications. The CCU and other devices can alsoconnect to the network through wired mediums, such as through Ethernetcables. The CCU can also communicate wirelessly through one or moreantennas 511. An end user is able to use an interface on a computingdevice 503 to access the stored data and reports, to generate data orstatistics, and so forth. The computing device 503 can include a desktopcomputer, a tablet, a smartphone, etc.

As illustrated in the example shown in FIG. 5, the CCU receives cartevent data substantially in real time as such data is retrieved orgenerated by the access points. Each such event may, for example,include an event type 512, an event timestamp 513, the ID 506 of theaccess point (AP) reporting the event, the ID of the cart transceiver(CT) to which the event applies (if applicable), and any associateddata. Events can include any of the parameters and data inferred fromthe parameters. For example, an event may specify that AP#1 detectedCT#2 enter into its zone at a particular time, and that CT#2 reported anRS SI value of X. In the case where CT#2 is in a cart being collected bya retriever having AP#3, events may include that AP#1 detected entry ofAP#3 in its zone at substantially the same time that CT#2 entered itszone and that AP#3 reported an RSSI value of Y. The entry (and/or exit)of CTs and the cart retriever access points into the various zones ofthe APs permit the determination of the path taken by the retriever andcarts. GPS information (e.g., from the GPS chip 413) or cart wheelmagnetic navigation location estimates may additionally or alternativelybe used to determine the path of the retriever. The CCU 501 may analyzesubstantially simultaneous events such as these to independently confirmthe number of carts being moved by a retriever as well as the path takenby the carts and retriever.

As parameters are reported and received, the parameters can be loggedand saved into a usage data memory 505. The memory can includenonvolatile, non-transitory data storage. The usage data memory can beorganized to log parameters 507, 508, 509, to associate the parameters507, 508, 509 with an identification 506 that represents the source ofthe parameter, for example, a cart ID, cart retriever ID, or a remotecontrol ID, AP ID, etc. The identification 506 and log parameters 507,508, and 509 can also be associated with an event type 512 and one ormore timestamps 513. In addition, the log can remove any receivedduplicate entries, for example, if a cart transmitted a timestamp thatwas received by both a nearby cart retriever and an access point, bothof which retransmitted the timestamp and associated cart ID to the CCU.

The component 504 labeled “off-line statistical analysis” is responsiblefor analyzing the user data memory 505 to mine various types ofinformation. One type of information that can be mined is informationregarding the effectiveness of a cart retrieval schedule of operations.For example, by collectively analyzing cart retriever histories and carthistories (e.g., cart locations, collection trip paths, times, number ofcarts collected, and so forth), a determination may be made that cartsfrequently remain in the parking lot at times of high customer demandand the cart collection schedule can be updated so that these carts arereturned to a collection area for customer use in advance of times ofhigh demand. Additionally, the off-line statistical analysis component504 may be used to determine statistics related to the shopping cartinventory of the store and parking lot, for example, the total number ofcarts physically present on the premises, wherein on the premises (e.g.,inside the store or in the parking lot), the number of carts in activeuse over specific time periods, the number of cart retrievers in activeuse over specific time periods, which firmware revisions (and associatedfunctionality) are present in the store's cart and cart retrieverinventory, etc.

A reporting component 510 generates a report of the events or parametersin a format that can be displayed through a user interface on thecomputer device 503. The user interface can allow for access to reports,events, or parameters in an interactive manner so that a user caninteractively select what types of reports events, or parameters theywant to see.

As an example embodiment of the network system 500, the control circuit400 of the retriever 40 monitors the various parameters described hereinand reports the data to the central computerized monitoring system 500.Users can access a dashboard which provides a user interface for theuser to view information about the monitored retrievers and view usagereports.

The control circuit 400 can report monitored parameters to the system500 via the network 502 using transceivers 405, 408 the Wi-Fi chip 410,the Bluetooth chip 414, or the GPRS modem 412. In some implementations,when the unlock transceiver 408 of a cart retriever 40 is nottransmitting unlock commands, it can listen for status requests from theCCU 501. Upon receiving a status request, the control circuit 400 cantransmit stored parameters for both itself and for carts. Betweenreceiving status requests, the monitored parameters can be stored in thenon-volatile, non-transitory memory 419 until transmitted to the CCU 501and an acknowledgment message is received.

The control circuit 400 can similarly communicate with CT's to receivemonitored parameters from carts. The control circuit can broadcaststatus requests for nearby CT's to report monitored parameters. Uponreceiving a status request, a cart will transmit its own storedparameters to the control circuit. Between receiving status requests,the monitored parameters can be stored in a memory on the cart untiltransmitted to the control circuit and an acknowledgment message isreceived.

The system 500 can feature both unidirectional and bidirectionalcommunication protocols. The communication protocol can be unicast,multicast, or broadcast, as the case may be for a particular networkconfiguration. For example, the control circuit 400 can bidirectionallycommunicate with a CT when the control circuit sends a status requeststo the CT, the CT responds by sending monitored parameters to thecontrol circuit, and then the control circuit responds with anacknowledgement signal. As an example of unidirectional communication,the control circuit can broadcast to all nearby carts to unlock so thatthe cart retriever can collect and push carts. In this example, thecontrol circuit does not need any response from the CT, so only aunidirectional protocol and hardware is required. As another example ofunidirectional communication, parameter reporting can be unidirectional.In some embodiments, the monitoring system 500 system does not sendstatus requests for parameters. Instead, carts or cart retrievers canperiodically transmit monitored parameters to the system 500 at certaintime intervals (once a day, twice a day, every hour, etc.) or uponcertain events (when near an access point, when entering a store, whencharging, when in a cart corral, when connected to a certain network,etc.).

FIG. 6A shows a block diagram of an example method 600 for managing andmonitoring carts. At block 601, a CCU sends a request for monitoredparameters to APs, CTs, MCUs, etc. This request can be sent through anetwork, such as network 502, and may include direct wirelesscommunications. At block 602, the CCU receives monitored parameters fromaccess points, cart retrievers, CTs, MCUs, or EASs. The CCU canoptionally reply with an acknowledgement of receiving the monitoredparameters. At block 603, the CCU can organize the monitored parametersand store the monitored parameters in a log in a memory. It can organizethe data by timestamp or in a way that reflects a parameter'sassociation with the originating device of that parameter. At block 604,one or more processors in the CCU can analyze statistics and mine thelog for statistical correlations, operating metrics, efficiencyparameters, etc. At block 605, the CCU can generate a report for useraccess. Upon receiving a request for a report at block 606 the CCU cancommunicate the report to a computing device that presents and allowsinteraction with the report, events, and parameters at block 607. Theinterface can be, for example, in the form of a website.

FIG. 6B shows a block diagram of an example method 650 for carts (orcart retrievers) to monitor and report parameters. The method can startat block 651. At block 652, a CT can monitor and log parameters of thecart. At block 653, the CT can receive a status report command or detecta reporting event. The status report command can be sent from a cartreceiver and can be received through an antenna on the CT.Alternatively, the CT can detect a reporting event. For example, the CTcan be programmed to report daily or hourly or upon arriving at certainlocations (e.g., near an access point). At block 654, the CT can reportthe logged parameters by wireless transmission to an antenna in acircuit in a cart retriever, to an access point, or a central controlunit, or to the network. After reporting the parameters, the CT canreturn to block 651 and continue to monitor parameters. Although themethod 650 has been described for a CT, the method 650 can also beperformed by the control circuit 400 or an access point in a cartretriever.

User Functionality

FIG. 7A shows an example of a user interface 700 for interacting withthe network system 500 for managing and monitoring carts. The userinterface 700 shows an example of a summary report 701 that can begenerated by the system 500. For example, the user interface 700 can bedisplayed on the computing device 503. Summarized reporting can identifyvarious aspects of the cart retriever and cart system. For example, theCCU can determine whether or when batteries may be nearing the end oftheir service life based upon the charge/discharge behavior as monitoredby the control circuit of the retriever. The CCU 501 can perform offlinedata analysis to evaluate the information collected by the controlcircuits of the cart retrievers and can generate these reports forviewing or further analysis. It is also possible (by combining variousmonitored and collected status information) to compare the actual trackof the vehicle (e.g., cart or retriever) collected via GPS (or AP zoneentry/exit or by a magnetic navigation system in the cart or retriever),the speed of the vehicle, the number of starts and stops of the vehicle,to a preset, optimal, or desired route for collecting carts in a parkinglot. The CCU can determine if the vehicle adhered to the preset, optimal(or desired) route and report operator compliance to a system manager.By monitoring the motor current during retrieval operations the controlcircuit can report this data to the monitoring system 500 for datamining and statistical analysis, and variance reports can be generatedidentifying the over loading of the vehicle or the underutilization ofthe cart retriever.

The summary report 701 can provide statistical information aggregatedfrom the monitored parameters of the cart retrievers and carts. Forexample, report data 704 can report (over a time period), the totalnumber of carts retrieved, average number of carts retrieved per cartretrieval trip, an average duration of cart retrieval trips, an averagepath length of the cart retrieval trips, an average speed of theretriever during cart retrieval trips, an average number of stops madeduring the cart retrieval trips, the total number of cart retrievers (orcarts) with low batteries, battery charge status of the cartretriever(s), total number of carts with locked wheels, missing carts,etc. The summary report can also show graphs 705 of parameter trendsover time. Additionally or alternatively, rather than averagestatistics, the statistical information can include a median, mode,standard deviation, variance, or any other statistical measure.

A current status section 702 of the report 701 can present the latestknown information about carts and cart retrievers. A section 706 canreport present information such as the number of carts at certainlocations. Another section 707 can report current issues, such aswhether carts or cart retrievers have low batteries, low tire tread, arelocked, are missing, etc. A map 708 can display the last known locationof carts and cart retrievers or to represent traffic.

The user can interact with the status section 702 in a variety of ways.Clicking on or hovering over certain parts of sections 706 or 707 cancause the map 708 to highlight the locations of carts that fit certaincategories (e.g., carts with low batteries or carts with locked wheels).Clicking on or hovering over certain parts can also cause the interfaceto display more details, link to another page, or cause the individualunit section 703 to show data about certain units.

An individual unit section 703 of the report 701 can allow the user tointeractively see certain types of data. The user can select anidentifier (ID) from a list 709 of available ID's of carts, cartretrievers, and remote controllers. The list can update to show onlycertain ID's, for example, if a user clicks to show only ID's of cartswith low batteries. When the user selects an ID from the list, theinterface will display statistics 710 about that individual unit. Thesecan include the monitored parameters and events. Any issues with theselected unit can be shown in a section 711. A map 712 can show theselected unit and also the trail that the selected unit took.

The user can interact with the summary report to show different graphsof different parameters or events over different periods of time. Forexample, clicking or hovering a mouse pointer over report data 704 cancause the interface to display more details (such as the ID's of carts),link to another page of the report, or cause the current status section702 or individual unit section 703 to show data about one or moreselected categories of units.

FIG. 7B shows an example of a remote control 308 for controlling a cartretriever. The remote control 308 is associated with the particular cartretriever for which it will be used for control (commonly calledpairing). The remote control 308 can also interact with the networksystem 501 for managing and monitoring carts. The remote control 308 hasa screen 750 for displaying a user interface with status or usageinformation. The screen can show status information for the cartretriever 40 it is paired with and the carts that have been collected bythe retriever. The remote control 308 can receive the status informationfrom an access point of the retriever, an access point elsewhere in theretail facility, or the CCU. As an example of status information, theuser interface can indicate a battery level 751 of the cart retriever(or a battery in the remote control) as a percentage, a bar graph, etc.The screen can also show helpful data such as the total number of cartsbeing pushed by the cart retriever with reference to a recommendedmaximum number of carts (and indicate an error if too many carts arepushed), the speed of the retriever, the trip time, and any errorstatuses such as pushing too many carts, low battery, steep incline,cart wheels are locked, skid detection events, etc. Buttons 752 canallow an operator to scroll up or down to see more status information.

Other buttons on the remote control 308 can send commands to the cartretriever 40 to move forward at the fast 753 (e.g., Rabbit) or slow 754(e.g., Turtle) speeds or backward at the fast 755 or slow 756 speeds.Other buttons can include functions to honk the horn, apply the brakes758 (“stop”), or send an unlock command 759 to wheels of nearby carts.

Additional Aspects and Examples

In a first aspect, a retriever for shopping carts is disclosed. Theretriever comprises an electric motor, a battery electrically connectedto the electric motor, a cart connection assembly configured to couple ashopping cart to the retriever, a bidirectional wireless radio frequency(RF) transceiver, and a control circuit in electrical communication withthe electric motor and the RF transceiver. The control circuit isconfigured to: communicate a drive command to the electric motor,monitor a battery parameter associated with the battery, monitor aretriever usage parameter associated with the retriever, and communicateinformation associated with the battery parameter and the retrieverusage parameter via the bidirectional RF transceiver. The batteryparameter can comprise one or more of: a charge level of the battery, aduration of battery charging, a battery voltage, a battery current, or astate of whether the battery is being charged. The retriever usageparameter can comprise one or more of: a time that the retriever hasbeen powered on, a driving time for the retriever, an idle time for theretriever, a number of times a hood of the retriever has been opened, afault indicator, or an interrupt signal.

In a second aspect, the retriever of aspect 1, wherein the controlcircuit is configured to monitor a location parameter for the retriever,and wherein the location parameter includes one or more of: a locationof the retriever, a path taken by the retriever, or a speed for theretriever.

In a third aspect, in the retriever of aspects 1 or 2, the controlcircuit is further configured to monitor one or more of: a number ofshopping carts coupled to the retriever or identities of the shoppingcarts coupled to the retriever.

In a fourth aspect, the retriever of aspect 3, where the control circuitis further configured to monitor one or more of: a duration of a cartretrieval trip, a number of stops made during a cart retrieval trip, apath taken during a cart retrieval trip, a timestamp for a cartretrieval trip, or an average speed for a cart retrieval trip.

In a fifth aspect, the retriever of any of aspects 1-4 furthercomprising a manual throttle configured to communicate a drive signal tothe control circuit. The control circuit is configured to monitor thedriving time for the retriever when controlled by the manual throttle.

In a sixth aspect, the retriever of any of aspects 1-5 furthercomprising a remote control configured to communicate a control signalto the retriever.

In a seventh aspect, the retriever of the sixth aspect, wherein theremote control is battery-operated, and the control circuit is furtherconfigured to receive a battery monitoring signal indicating a chargelevel of a battery in the remote control.

In an eight aspect, the retriever of the fifth aspect or the sixthaspect, where the control circuit is configured to monitor the drivingtime for the retriever when controlled by the remote control.

In a ninth aspect, the retriever of any of aspects 6-8, wherein thecontrol signal comprises a first speed signal to move the retriever at afirst speed and also comprises a second speed signal to move theretriever at a second speed. The first speed is greater than the secondspeed. The control circuit is configured to monitor one or more of: adriving time for the retriever at the first speed, a driving time forthe retriever at the second speed, or an average speed.

In a tenth aspect, the retriever of any of aspects 6-9, wherein thecontrol circuit is configured to monitor an identity of the remotecontrol that is associated with the retriever.

In an eleventh aspect, the retriever of any of aspects 6-10, wherein theremote control includes a display. The display is configured to outputone or more of: the charge level of the battery in the retriever, aspeed of the retriever, a number of shopping carts coupled to theretriever, or a trip time of the retriever.

In a twelfth aspect, the retriever in any of aspects 1-11, wherein thecontrol circuit is configured to communicate the battery parameter orthe retriever usage parameter to a remote computing system via thebidirectional RF transceiver.

In a thirteenth aspect, a system for monitoring usage of a cart fleet isdisclosed. The cart fleet comprises a cart retriever and a plurality ofhuman-propelled carts. The system comprises a plurality ofhuman-propelled carts, each cart in the plurality of human-propelledcarts comprising a first radio frequency (RF) communication circuit. Thesystem also comprises a cart retriever configured to be coupled to acart train comprising at least some of the plurality of human-propelledcarts. The cart retriever comprises a second RF communication circuitconfigured to communicate with the first RF communication circuits inthe carts in the cart train. The cart retriever comprises a controlcircuit that is configured to: communicate with the carts in the carttrain to determine a number of carts coupled to the cart retriever andto monitor event data that occurs during a cart retrieval trip. Theevent data includes one or more of: a path taken by the cart retrieverwhile coupled to the cart train during the cart retrieval trip, aduration of the cart retrieval trip, a number of stops made during thecart retrieval trip, a timestamp for the cart retrieval trip, or a speedof the cart retriever during the cart retrieval trip.

In a fourteenth aspect, the system of the thirteenth aspect, furthercomprising a battery-operated remote control configured to control theoperation of the cart retriever at a two or more different speeds. Thecontrol circuit is configured to monitor one or more of: a charge levelof a battery in the remote control, a driving time for the cartretriever when controlled by the remote control, a driving time for thecart retriever at a first speed of the two or more different speeds, adriving time for the cart retriever at a second speed of the two or moredifferent speeds, or an identity of the remote control that isassociated with the cart retriever.

In a fifteenth aspect, the system of any of aspects 13-14, wherein thecart retriever comprises an electric motor powered by a battery. Thecontrol circuit is further configured to monitor one or more of: acharge level of the battery, a duration of battery charging, a batteryvoltage, a battery current, or a state of whether the battery is beingcharged.

In a sixteenth aspect, the system of any of aspects 13-15, furthercomprising a processing system configured to communicate with the secondRF communication circuit of the cart retriever. The processing systemcomprises computer hardware programmed to receive the event data fromthe cart retriever and to generate a report comprising summaryinformation related to the event data.

In a seventeenth aspect, the system of any aspects 13-16, wherein eachcart in the plurality of human-propelled carts is a shopping cart, andthe cart retriever is a shopping cart retriever.

In an eighteenth aspect, a method for monitoring usage of a cart fleetunder control of a cart fleet management system comprising computerhardware is disclosed. The cart fleet comprises a cart retriever and aplurality of human-propelled carts. The method comprises receiving cartfleet event data via two-way radio frequency (RF) communication with thecart retriever, the cart retriever being configured to collect a trainof the human-propelled carts during each of a plurality of cartretrieval trips. The cart fleet event data comprises one or more of:paths taken by the cart retriever and the train during the cartretrieval trips, durations of the cart retrieval trips, numbers of stopsmade during the cart retrieval trips, timestamps for the cart retrievaltrips, or speeds of the cart retriever during the cart retrieval trips.The method also comprises aggregating the cart fleet event data for theplurality of cart retrieval trips. The method also comprises analyzingthe aggregated cart fleet event data to generate statistical informationregarding the cart fleet.

In a nineteenth aspect, the method of aspect 18, wherein the statisticalinformation comprises one or more of: a total number of carts retrieved,an average number of carts retrieved per cart retrieval trip, an averageduration of the cart retrieval trips, an average path length of the cartretrieval trips, an average number of stops made during the cartretrieval trips, or an average speed of the cart retriever during cartretrieval trips.

In a twentieth aspect, the method of aspect 18 or 19, wherein the cartretriever comprises an electric motor powered by a battery. The cartfleet event data comprises one or more of: a charge level of thebattery, a duration of battery charging, a battery voltage, a batterycurrent, a state of whether the battery is being charged, a motorcurrent, or a motor voltage. The statistical information comprisesinformation relating to the battery charge status of the cart retriever,whether or when the battery is nearing an end of its service life,overloading of the cart retriever, or underutilization of the cartretriever.

In a twenty-first aspect, the method of any of aspects 18-20, the methodfurther comprising determining, from the aggregated cart fleet eventdata, an efficient or optimal path for the cart retriever to follow orone or more optimal times for collecting carts.

In a twenty-second aspect, the method of any of aspects 18-21 furthercomprising determining, from the cart fleet event data or the aggregatedcart fleet event data, whether a particular path taken by the cartretriever adhered to a preset cart collection path.

In a twenty-third aspect, the method of aspect 22 further comprisingdetermining, from the cart fleet event data or the aggregated cart fleetevent data, operator compliance with following the preset cartcollection path.

In a twenty-fourth aspect, the method of any of aspects 18-23, whereineach cart in the plurality of human-propelled carts is a shopping cart,and the cart retriever is a shopping cart retriever.

Additional Information

The various illustrative logical blocks, modules, and processesdescribed herein may be implemented or performed by a machine, such as acomputer, a processor, a digital signal processor (DSP), an applicationspecific integrated circuit (ASIC), a field programmable gate array(FPGA) or other programmable logic device, discrete gate or transistorlogic, discrete hardware components, or any combination thereof designedto perform the functions described herein. A processor may be amicroprocessor, a controller, microcontroller, state machine,combinations of the same, or the like. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors orprocessor cores, one or more graphics or stream processors, one or moremicroprocessors in conjunction with a DSP, or any other suchconfiguration. Further, certain implementations of the cart fleetmanagement systems of the present disclosure are sufficientlymathematically, computationally, or technically complex thatapplication-specific hardware or one or more physical computing devices(utilizing appropriate executable instructions) may be necessary toperform the functionality, for example, due to the volume or complexityof the calculations involved (e.g., analyzing cart fleet event data formany carts and cart retrievers that have undertaken a large number ofcart collection trips) or to provide results (e.g., statisticalinformation) substantially in real-time.

The blocks or states of the processes described herein may be embodieddirectly in hardware, in a software module stored in a non-transitorymemory and executed by a hardware processor, or in a combination of thetwo. For example, each of the processes described above may also beembodied in, and fully automated by, software modules (stored in amemory) executed by one or more machines such as computers or computerprocessors. A module may reside in a non-transitory computer readablemedium such as RAM memory, flash memory, ROM memory, EPROM memory,EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, memorycapable of storing firmware, or any other form of computer-readable(e.g., storage) medium known in the art. A computer-readable medium canbe coupled to a processor such that the processor can read informationfrom, and write information to, the computer-readable medium. In thealternative, the computer-readable medium may be integral to theprocessor. The processor and the computer-readable medium may reside inan ASIC. The computer-readable medium may include non-transitory datastorage (e.g., a hard disk, non-volatile memory, etc.).

Depending on the embodiment, certain acts, events, or functions of anyof the processes or methods described herein can be performed in adifferent sequence, may be added, merged, or left out altogether. Thus,in certain embodiments, not all described acts or events are necessaryfor the practice of the processes. Moreover, in certain embodiments,acts or events may be performed concurrently, e.g., throughmulti-threaded processing, interrupt processing, or via multipleprocessors or processor cores, rather than sequentially. In anyapparatus, system, or method, no element or act is necessary orindispensable to all embodiments, and the disclosed apparatus, systems,and methods can be arranged differently than shown or described.

Conditional language used herein, such as, among others, “can,” “could,”“might,” “may,” “e.g.,” and from the like, unless specifically statedotherwise, or otherwise understood within the context as used, isgenerally intended to convey that certain embodiments include, whileother embodiments do not include, certain features, elements and/orstates. Thus, such conditional language is not generally intended toimply that features, elements and/or states are in any way required forone or more embodiments or that one or more embodiments necessarilyinclude logic for deciding, with or without author input or prompting,whether these features, elements and/or states are included or are to beperformed in any particular embodiment. The terms “comprising,”“including,” “having,” and the like are synonymous and are usedinclusively, in an open-ended fashion, and do not exclude additionalelements, features, acts, operations, and so forth. Also, the term “or”is used in its inclusive sense (and not in its exclusive sense) so thatwhen used, for example, to connect a list of elements, the term “or”means one, some, or all of the elements in the list.

Conjunctive language such as the phrase “at least one of X, Y and Z,”unless specifically stated otherwise, is otherwise understood with thecontext as used in general to convey that an item, term, etc. may beeither X, Y or Z. Thus, such conjunctive language is not generallyintended to imply that certain embodiments require at least one of X, atleast one of Y and at least one of Z to each be present. The term “a” or“an” or “the” when referring to an element means one or more of theelement.

While the above detailed description has shown, described, and pointedout novel features as applied to various embodiments, it will beunderstood that various omissions, substitutions, and changes in theform and details of the logical blocks, modules, and processesillustrated may be made without departing from the spirit of thedisclosure. As will be recognized, certain embodiments of the inventionsdescribed herein may be embodied within a form that does not provide allof the features and benefits set forth herein, as some features may beused or practiced separately from others.

1. (canceled)
 2. A cart retriever comprising: a motor; a batteryelectrically connected to the motor; a cart connection assemblyconfigured to couple a cart to the retriever; a wireless radio frequency(RF) transceiver; and a controller configured to: communicate a drivesignal to the motor; monitor a duration of charging of the batteryelectrically connected to the motor; monitor a retriever usage parametercomprising one or more of: an amount of time that the retriever has beenpowered on, an amount of driving time for the retriever, an amount ofidle time for the retriever, a number of times a hood of the retrieverhas been opened, a duration of a cart retrieval trip, a number of stopsmade during a cart retrieval trip, a path taken during a cart retrievaltrip, or a timestamp for a cart retrieval trip; and communicateinformation associated with the battery parameter and the retrieverusage parameter via the RF transceiver.
 3. The retriever of claim 2,further comprising a manual throttle configured to communicate a drivesignal to the controller, and wherein the controller is configured tomonitor a driving time for the retriever when controlled by the manualthrottle.
 4. The retriever of claim 2, further comprising a remotecontrol configured to communicate a drive signal to the retriever viathe wireless RF transceiver.
 5. The retriever of claim 4, wherein theremote control is battery-operated, and the controller is furtherconfigured to monitor a charge level of a battery in the remote control.6. The retriever of claim 4, wherein the controller is configured tomonitor a driving time for the retriever when controlled by the remotecontrol.
 7. The retriever of claim 4, wherein the drive signalcomprises: a first speed signal to move the retriever at a first speed;or a second speed signal to move the retriever at a second speed, thefirst speed being greater than the second speed; and the controller isconfigured to monitor one or more of: a driving time for the retrieverat the first speed, a driving time for the retriever at the secondspeed, or an average speed for the retriever.
 8. The retriever of claim4, wherein the controller is configured to monitor an identity of theremote control that is associated with the retriever.
 9. The retrieverof claim 4, wherein the remote control includes a display, and thedisplay is configured to output one or more of: a charge level of thebattery in the retriever, a speed of the retriever, a number of cartscoupled to the retriever, or a trip time of the retriever.
 10. Theretriever of claim 2, further comprising: a manual throttle configuredto communicate a manual drive signal to the controller; and a remotecontrol configured to communicate a remote drive signal to thecontroller via the wireless RF transceiver, wherein the controller isconfigured to resolve a conflict between the manual drive signal and theremote drive signal, the conflict occurring if both the manual drivesignal and the remote drive signal have been received by the controller.11. The retriever of claim 10, wherein to resolve the conflict betweenthe manual drive signal and the remote drive signal, the controller isconfigured to perform one or more of: do not apply power to the motor;stop applying power to the motor; set a brake on the retriever; obey themanual drive signal if received before the remote drive signal, or obeythe remote drive signal if received before the manual drive signal; obeythe manual drive signal if received after the remote drive signal, orobey the remote drive signal if received after the manual drive signal;obey the remote drive signal; obey the manual drive signal; sound ahorn; or flash a light.
 12. The retriever of claim 10, wherein: themanual drive signal is associated with a first speed for moving theretriever, the remote drive signal is associated with a second speed formoving the retriever, and to resolve the conflict between the manualdrive signal and the remote drive signal, the controller is configuredto perform one or more of: obey the manual drive signal if the firstspeed is greater than the second speed, or obey the remote drive signalif the second speed is greater than the first speed; or obey the manualdrive signal if the first speed is less than the second speed, or obeythe remote drive signal if the second speed is less than the firstspeed.
 13. The retriever of claim 2, wherein the controller is furtherconfigured to monitor a fault condition comprising one or more of:multiple drive signals being received by the controller; a number ofcarts coupled to the retriever exceeding a threshold; inability of theretriever to move a train of carts; movement of the retriever when abrake of the retriever is actuated; or failure of a circuit component.14. A system for monitoring usage of a cart fleet comprising a cartretriever and a plurality of human-propelled carts, the systemcomprising: a motorized cart retriever configured to be coupled to acart train comprising at least some of a plurality of human-propelledcarts, the cart retriever comprising a motor and a battery electricallycoupled to the motor, the cart retriever further comprising a radiofrequency (RF) communication circuit and a control circuit configured tomonitor: a duration of charging of the battery; and event data thatoccurs during a cart retrieval trip, the event data including one ormore of: a path taken by the cart retriever while coupled to the carttrain during the cart retrieval trip, a duration of the cart retrievaltrip, a number of stops made during the cart retrieval trip, or atimestamp for the cart retrieval trip; and a processing systemconfigured to communicate with the RF communication circuit of the cartretriever, the processing system comprising computer hardware programmedto: receive the event data from the cart retriever; and generatestatistical information related to the event data.
 15. The system ofclaim 14, wherein the system further comprises a wireless remote controlconfigured to communicate with the RF communication circuit and tocontrol the operation of the cart retriever at two or more differentspeeds, and the control circuit is configured to monitor one or more of:a charge level of a battery in the remote control, a driving time forthe cart retriever when controlled by the remote control, a driving timefor the cart retriever at a first speed of the two or more differentspeeds, a driving time for the cart retriever at a second speed of thetwo or more different speeds, or an identity of the remote control thatis associated with the cart retriever.
 16. The system of claim 14,wherein each cart in the plurality of human-propelled carts is ashopping cart, and the cart retriever is a shopping cart retriever. 17.A method for monitoring usage of a cart fleet comprising a cartretriever and a plurality of human-propelled carts, the cart retrieverconfigured to collect a train of the plurality of human-propelled cartsduring cart retrieval trips, the method comprising: under control of acart fleet management system comprising computer hardware: receivingcart fleet event data comprising one or more of: paths taken by the cartretriever during the cart retrieval trips, durations of the cartretrieval trips, numbers of stops made during the cart retrieval trips,or timestamps for the cart retrieval trips; receiving demand datarelated to times of high demand for use of the plurality ofhuman-propelled carts; aggregating the cart fleet event data for thecart retrieval trips; and analyzing the aggregated cart fleet event dataand the demand data; and generating a cart collection schedule for thecart fleet, wherein the cart collection schedule provides for return ofat least some of the plurality of carts to a collection area in advanceof the times of high demand.
 18. The method of claim 17, whereingenerating the cart collection schedule comprises determining anefficient or optimal path for the cart retriever to follow or one ormore optimal times for collecting carts.
 19. The method of claim 17,wherein analyzing the aggregated cart fleet event data comprisesdetermining whether a particular path taken by the cart retrieveradhered to a preset cart collection path.
 20. The method of claim 19,wherein analyzing the aggregated cart fleet event data comprisesdetermining operator compliance with following the preset cartcollection path.
 21. The method of claim 17, wherein analyzing theaggregated cart fleet event data and the demand data comprisesdetermining statistics relating to one or more of: locations of carts inuse over specific time periods; number of carts in use over specifictime periods; or firmware used by the cart retriever or the carts.